CN102326409B - Wireless communication system, radio communication device and wireless communications method - Google Patents
Wireless communication system, radio communication device and wireless communications method Download PDFInfo
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- CN102326409B CN102326409B CN201080008772.XA CN201080008772A CN102326409B CN 102326409 B CN102326409 B CN 102326409B CN 201080008772 A CN201080008772 A CN 201080008772A CN 102326409 B CN102326409 B CN 102326409B
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- 238000004891 communication Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims description 29
- 230000009471 action Effects 0.000 claims abstract description 177
- 230000004044 response Effects 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000000875 corresponding effect Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 62
- 230000008569 process Effects 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 230000033228 biological regulation Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 230000005856 abnormality Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
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- 108010076504 Protein Sorting Signals Proteins 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
- H04W84/20—Master-slave selection or change arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A kind of wireless communication system, indicates the slave station implementing the action specified to form by main website and according to the action that main website sends; Main website possesses: frame handling part (107) usually, generates action instruction; And execution/stop signal handling part (108), when there is the response indicated action from whole slave stations during the response stand-by time specified, the execution index signal generating the execution of this action of instruction instruction sends; Slave station possesses the execution index signal reception processing unit receiving and perform index signal; Perform index signal and receive processing unit when have received execution index signal, perform the action corresponding with this execution index signal, in addition, indicate corresponding execution index signal until receive with action, wait for the execution of corresponding action.
Description
Technical field
The present invention relates to a kind of for making multiple device with the wireless communication system of fixed cycle coordination, radio communication device and wireless communications method.
Background technology
In the system (FA system) of FA (FactoryAutomation: factory automation) environment, there is multiple equipment and multiple network.Such as, this FA system possesses equipment and the controllers for controlling these equipment such as transducer, robot, servo motor.In addition, this FA system such as possess for sharing information between the controllers between controller network, for share between PC (PersonalComputer: personal computer) and between controller information information network, by the territory network in real time for the purpose of equipment room carries out coordinating and connects and than territory network, the also high and communication that reliability is high carrys out multiple networks of serving network for the purpose of at high speed between connection device etc. to carry out speed.
As the representational communication mode of information network, there are Ethernet (registered trade mark)/IP (InternetProtocol: Internet Protocol), PROFInet etc., as the representational communication mode of network between controller, there are MELSECNET, FL-net etc.In addition, as the representational communication mode of territory network, there are CC-Link (Control & CommunicationLink), Devicenet etc., as the representational communication mode of serving network, there is SSCNET (ServoSystemControllerNetwork: servo system controller network) etc.
Wherein, in territory network, serving network, as the feature of FA system, require at a high speed and the high communication of reliability.Such as, as forming the equipment of FA system with the artificial example of industrial machine.Industrial robot, in order to carry out the action of stretching, bend and stretch, move up and down, move left and right or circling round, carries out action according to the instruction carrying out indicating from controller through servo amplifier, servo motor.In order to realize the action of the complexity of industrial robot, the servo amplifier of more than 2, servo motor is made to carry out action with the step of regulation successively.
In addition, as an example of industrial robot, the action of the work mechanism being referred to as roll feeder is described.Roll feeder realizes punching in the following way: the batcher roller be opposite on platform carries out speed adjustment and moves forward, and drilling machine drops to the position that roller stops.In this example embodiment, take following form: make roller carry out each servo motor of the batcher of movement and the drilling machine of punching to driving, make instruction from controller by servo amplifier.X-axis, Y-axis, Z axis are being carried out to the accurate man-hour requirement that adds and carrying out high-precision coordination.Therefore, by periodically carrying out synchronous communication between controller and each servo amplifier and servo motor, realize the coordination simultaneously between starting, high-precision multiple servo.In order to realize high-precision coordination, need to carry out the high communication of reliability.
On the other hand, as carrying out in the technology of main equipment from the high communication of the reliability device systems, such as in following patent documentation 1, describe following technology: for wired bus-network, do not having since the response of equipment, detect communication abnormality, enter pattern when disconnecting the corresponding exception from equipment.
Patent documentation 1: Japanese Unexamined Patent Publication 2007-312043 publication
Summary of the invention
But, in the territory network, serving network of above-mentioned FA system in the past, employ wire rope, optical fiber cable as physical cord, not produce premised on garble.When exist controlled multiple suppose from the network of equipment multiple from when creating garble during equipment coordination action, main equipment and all need to be grasped the generation of garble from equipment.When continue for action when cannot garble be detected, be contemplated to following situation: the breakage being not only workpiece, and cause the destruction of industrial robot self, the impact on human life.Such as, assuming that following situation: by driving making instruction from equipment and carrying out depiction of X-axis, Y-axis, Z axis respectively.To drive Z axis deliver the information as broken through the mistake the plate that supports from equipment time, when controller cannot detect this situation, not only correctly can not describe workpiece, and likely make machinery self damaged.
But in the wire communication of wire rope, optical fiber cable etc., the difficult arrangement of physical cord, is particularly arranged as problem when connecting a lot of equipment.Therefore, wish the application carrying out radio communication in such networks, but technology is in the past not object with radio communication, therefore exists and cannot realize the such problem of reply when creating garble.
In addition, the technology described in above-mentioned patent documentation 1 take wire communication as the method for detecting abnormality of object.When considering towards the application of radio communication, only according to not have response to be that the mistake of the instantaneity that cannot judge communication quality causes or the fault of machinery.Therefore, existence cannot be applied to and produce problem such in the radio communication of communication hit.
The present invention makes in view of the above problems, its object is to obtain a kind of wireless communication system, radio communication device and the wireless communications method that can carry out the high radio communication of reliability in the control system of control appliance.
In order to solve above-mentioned problem to reach object, the present invention is a kind of wireless communication system, be made up of main website (masterstation) and slave station (slavestation), wherein, this slave station implements the action specified according to the action instruction that described main website sends, the feature of described wireless communication system is, described main website possesses: frame transmission processing unit usually, and described action instruction is generated as radio frames, and perform index signal production unit, when having carried out responding from whole slave stations to described action instruction during the response stand-by time specified, generate and perform index signal and send, wherein, this execution index signal is instruction indicates the execution of corresponding action signal with this action, described slave station possesses execution index signal and receives processing unit, this execution index signal receives processing unit and receives described execution index signal, the reception process that professional etiquette of going forward side by side is fixed, described execution index signal receives processing unit when receiving described execution index signal, indicate based on the action corresponding with this execution index signal and perform an action, in addition, corresponding execution index signal is indicated to wait for the execution of the action indicated based on this action until receive with action.
According to the present invention, main equipment indicates to from equipment sending action, and in official hour from whole obtain response from equipment, instruction indicates corresponding action executing with this action, therefore plays following effect: can carry out the high radio communication of reliability.
Accompanying drawing explanation
Fig. 1 is the figure of the structure example of the execution mode 1 representing communication system of the present invention.
Fig. 2 is the figure of the example representing FA system.
Fig. 3 represents that main equipment as prerequisite is from the figure of the concept of the elemental motion of device systems.
Fig. 4 is the figure of the concept representing the action carrying out radio communication.
Fig. 5 is the figure of the functional structure example representing main equipment.
Fig. 6 is the figure of the functional structure example represented from equipment.
Fig. 7 represents the figure from main equipment to the concept of the transmission of the instruction from equipment and device action.
Fig. 8 is the figure of the example representing the action instruction comprising error of transmission.
Fig. 9 is the figure of another example representing the action instruction comprising error of transmission.
(description of reference numerals)
1: main equipment; 2 ~ 5: from equipment; 10,11:PC; 12 ~ 15: controller; 16,17: transducer; 18: robot; 19,20:I/O equipment; 21 ~ 23: servo amplifier; 24 ~ 26: servo motor; 101: application section (main equipment); 102,112: wireless signal handling part; 103,113:RF portion; 104,114: transmission and reception control part; 105,115: sending part; 106,116: acceptance division; 107,117: frame handling part usually; 108,118: execution/stop signal handling part; 111: application section (from equipment); A1: action; M1 ~ M5: wireless information; N1:InformationNetwork (information network); N2:ControllerNetwork (controller network); N3:FieldNetwork (territory network); N4:ServoNetwork (serving network).
Embodiment
Below, the execution mode of wireless communication system of the present invention, radio communication device and wireless communications method is explained with reference to the accompanying drawings.In addition, be not limit the present invention by this execution mode.
execution mode.
Fig. 1 is the figure of the structure example representing communication system of the present invention.As shown in Figure 1, the communication system of present embodiment is by main equipment (Master) 1 and the forming from equipment (Slave) 2 ~ 5 of controlled device as main equipment 1.In addition, form the communication system of present embodiment from equipment 2 ~ 5, as long as multiple stage does not just limit number of units.In addition, as long as the number of units of main equipment 1 more than 1, also multiple stage can be set to.
The communication system of present embodiment such as can use the system into the territory network in formation FA system, serving network.Fig. 2 is the figure of the example representing FA system.The FA system of Fig. 2 be by the PC (PersonalComputer: personal computer) 10 of the information management carrying out FA system etc., 11, controller 12 ~ 15, transducer 16,17, robot 18, I/O equipment (Input/Output) 19,20, servo amplifier 21 ~ 23 and servo motor 24 ~ 26 formed.
Controller 12 ~ 15 with the step of the regulation be prepared to control transducer 16,17, robot 18, I/O equipment 19,20 and servo amplifier 21 ~ 23, in addition, carry out the acquisition etc. of the information from these devices.In addition, controller 12 ~ 15 uses multiple finder by servo amplifier 21 ~ 23, servo motor 24 ~ 26 to be carried out to the motion control of synchronous operation, location tracking, cascade operation equal altitudes.
Transducer 16,17 is controlled by controller 15, provides information to controller 15.Robot 18 performs an action according to the control instruction carrying out self-controller 15.The input that I/O equipment 19,20 inputs the ON/OFF information of each equipment, numerical information termly according to the control instruction carrying out self-controller 15 or accepts from operator.Servo amplifier 21 ~ 23 distinguishes control connection in the action from servo motor 24 ~ 26 with it according to the instruction carrying out self-controller 14.
Servo motor 24 ~ 26 is done according to the motor that to drive with the position of object, orientation, posture etc. from the instruction of the servo amplifier 21 ~ 23 connected respectively be controlled quentity controlled variable action of going forward side by side.In addition, when possessing testing agency, detection position, orientation, posture etc. are fed back to connected servo amplifier 21 ~ 23.
In addition, in the FA system of Fig. 2, by PC10,11 and controller 12 be configured for information network (InformationNetwork) N1 of shared information, network (ControllerNetwork) N2 between the controller being configured for sharing between the controllers information by controller 12 ~ 14.In addition, in the FA system of Fig. 2, by controller 13,15, transducer 16,17, robot 18 and I/O equipment 19,20 is configured for territory network (FieldNetwork) N3 that carries out between Mediation Device in real time connecting, be configured for carrying out than territory network N 3 also at a high speed and the high communication of reliability comes at high speed between connection device serving network (ServoNetwork) N4 by controller 14, servo amplifier 21 ~ 23 and servo motor 24 ~ 26.
In this FA system, be mostly by transducer 16,17, robot 18, I/O equipment (Input/Output) 19,20, servo amplifier 21 ~ 23 and servo motor 24 ~ 26 coordinate to realize an action.Thus such as, when the action instruction carrying out self-controller 12 ~ 15 does not arrive any one in these due to error of transmission etc., just cannot implement coordination, the action of FA system as object of high-precision Position Control etc. cannot be implemented.Therefore, in FA system, importantly reliably pass on the action instruction of self-controller 12 ~ 15.
The communication system territory network N 3 as shown in Figure 2 of present embodiment, serving network N4 are such, towards the reception and registration as required the instruction from the device becoming main equipment reliability systematic difference premised on.Such as, communication system shown in Fig. 1 and the territory network N 3 shown in Fig. 2, serving network N4 are corresponding, by play as main equipment function device (controller 13 ~ 15) and as play from equipment function device (transducer 16,17, robot 18, I/O equipment 19,20, servo amplifier 21 ~ 23, servo motor 24 ~ 26 etc.) formed, main equipment controls the action from equipment.
Then, the action of present embodiment is described.Fig. 3 represents that present embodiment is set to the figure of main equipment from the concept of the elemental motion of device systems of prerequisite.As shown in Figure 3, main equipment with the fixed cycle to respectively making instruction respectively from equipment.And, when respectively accepting instruction from equipment, carry out the action based on this instruction in the ensuing cycle (main equipment makes the ensuing cycle in the cycle of instruction).Specifically, as shown in Figure 3, such as, in the cycle of main equipment sending action instruction #2, the action based on the action instruction #1 received the cycle is before this performed from equipment.And in the ensuing cycle, main equipment sending action instruction #3, performs the action based on action instruction #2 from equipment 2 ~ 5.Like this, perform an action according to the instruction carrying out autonomous device from equipment, realize the coordination from equipment as entire system thus.
The elemental motion when elemental motion of Fig. 3 is mainly premised on wire communication, but in the present embodiment, this elemental motion is applied to the situation of radio communication.Fig. 4 is the figure of the concept of the action representing the present embodiment of carrying out radio communication.Wireless information M1 ~ M5 is that wireless information M1, M3, M5 are from main equipment 1 to the message sent from equipment 2 ~ 5, and wireless information M2, M4 are the message from sending from equipment 2 ~ 5 to main equipment 1 at main equipment 1 and the wireless information from transmission and reception between equipment 2 ~ 5.Action A1 represents the action implemented from equipment 2 ~ 5.
Wireless information M1 is the message from main equipment 1 to the content indicated from equipment 2 ~ 5 notification action.In addition, wireless information M2 is the message of the meaning reached respectively to the content that main equipment 1 notification action indicates from equipment 2 ~ 5 that have received wireless information M1.When correctly receiving wireless information M1 due to garble from equipment 2 ~ 5, the wireless information M2 as the response of wireless information M1 will not return.In addition, the situation producing error of transmission when have sent wireless information M2 from equipment 2 ~ 5 is also had.
Wireless information M3 be to the response of wireless information M1 is not correctly returned main equipment from equipment (not responding from equipment) again sending action instruction message.In addition, wireless information M4 is following message: when do not respond have received wireless information M3 from equipment, send as to the response of wireless information M3.Also suppose the situation producing error of transmission in the transmitting procedure of wireless information M3 or wireless information M4.In this case, also can repeat again to send.
In the present embodiment, within the fixed cycle, implement the transmission carrying out the action instruction of autonomous device 1 as described above and again send.And, main equipment 1 when exist as follows from when equipment to whole standby wireless information M5 sending instruction action from equipment 2 ~ 5: within the cycle that have sent action instruction, do not carry out the response of this action instruction comprising the response again sent from equipment.And, when indicating standby, to be set in the ensuing cycle again to send and to carry out standby action instruction.In addition, main equipment 1 within the cycle that have sent action instruction from whole to obtain the response that this action is indicated comprising the response that again sends from equipment, indicate action executing with wireless information M5.
And, in the ensuing cycle, respectively implement action executing or standby (do not perform again send action that message carry out indicate with wireless information M1 or its and standby) from equipment 2 ~ 5 according to wireless information M5.In addition, the content of now performed action is set to the content again sending message to notify by wireless information M1 or its.In addition, respectively from equipment 2 ~ 5 when wireless information M5 cannot be received, the instruction of action executing and standby instruction be not all having, and carries out standby.
In the present embodiment, the general radio frames of wireless information M1 ~ M4 formation as WLAN (LocalAreaNetwork: local area network (LAN)), portable phone is set to.Therefore, in order to communicate, need the reception SNR (SingnaltoNoiseRatio: signal to noise ratio) of more than certain level.On the other hand, as long as wireless information M5 represent action executing or standby in which radio signal sequence (signal of 0 or 1), the message that also can receive when being therefore generated as low 20 ~ 30dB compared with the reception SNR needed for wireless information M1 ~ M4.In addition, be not limited thereto, also can, to wireless information M5, repeat to send common radio frames, raising transmission electric power, use multiple antenna, low modulation system or raising error correcting capability to send to improve reliability.In addition, also can combine these methods to send to improve reliability.
By the above action of present embodiment, the radio communication utilizing error rate high also can propagate instruction to whole from equipment 2 ~ 5 from main equipment 1 during the fixed cycle, in addition, when from 1 of equipment 2 ~ 5 with upper cannot confirm to have received notice, whole actions from equipment 2 ~ 5 is carried out standby, therefore do not spoil the harmony action.
Fig. 5 is the figure of the functional structure example of the main equipment 1 representing present embodiment.As shown in Figure 5, main equipment 1 is formed by with lower part: application section (main equipment) 101, generates instruction, information to from equipment 2 ~ 5, extracts the information since equipment 2 ~ 5; Wireless signal handling part 102, the instruction generated according to application section (main equipment) 101, information generate transmission signal, in addition, carry out reception process to the wireless signal sent from equipment 2 ~ 5; And RF (RadioFrequency) portion (antenna part) 103, carry out the transmission and reception of wireless signal.
Further, wireless signal handling part 102 is made up of the acceptance division 106 controlling the transmission and reception control part 104 of timing of transmission and reception, the instruction generated according to application section 101, information generate the sending part 105 and process Received signal strength sending signal.In addition, sending part 105 makes the usual frame handling part 107 of the common radio frames for sending message by the instruction generated according to application section 101, information and generates to indicating the executive signal of action from equipment 2 ~ 5 or indicating the execution of standby stop signal/stop signal handling part 108 to form.
The reception process that the Received signal strength of acceptance division 106 to the wireless signal received as RF portion 103 specifies also is set to reception data, reception data is transferred to transmission and reception control part 104.In addition, acceptance division 106 carries out receiving the control in the RF portion 103 to the switching received etc. of the increase and decrease of electric power, frequency error factor, antenna.Transmission and reception control part 104 determines for sending to timing from the instruction, information of equipment 2 ~ 5, the control information of destination address etc. notified to sending part 105, instruction application section (main equipment) 101 generated in addition, information are transferred to sending part 105.In this instruction, comprise with wireless information M5 sending action perform or standby in which instruction.In addition, transmission and reception control part 104 will receive data handover to application section (main equipment) 101.
Application section (main equipment) 101 does not respond from equipment by determining whether to exist in units of the cycle according to reception data, determine to perform with wireless information M5 sending action or standby in which.When have sent in one-period as described action instruction after exist do not respond from equipment, attempt again send, when exist to again send also do not respond from equipment, be judged to be exist do not respond from equipment.In addition, by determining to make, when not responding from equipment, to indicate action executing with wireless information M5, do not respond from standby to indicate with wireless information M5 when equipment in existence.
In sending part 105, receiving with such as wireless information M1 from transmission and reception control part 104, when the information that such common radio frames such as M3 sends, instruction, usual frame handling part 107 makes radio frames according to this information, instruction and transfers to RF portion 103 as transmission signal.This common radio frames both can be as PDC (PersonalDigitalCellular), PHS (PersonalHandy-phoneSystem), the TDD (TimeDivisionDuplex) of the single carrier that DSRC (DedicatedShortRangeCommunication) is such or FDD (FrequencyDivisionDuplex) frame, also can be as WLAN 802.11a in addition, the CSMA (CarrierSenseMultipleAccess) of the OFDM (OrthogonalFrequencyDivisionMultiplexing) that WiMax (WorldwideInteroperabilityforMicrowaveAccess) is such or OFDMA (OrthogonalFrequencyDivisionMultiplexingAccess), TDD, FDD frame.As long as the frame structure that common radio frames is following: have the address structure being used to specify object, implement the modulation treatment of the height of the transmission for carrying out excellent in efficiency in addition.
In addition, when receiving which the instruction performed with wireless information M5 sending action in (Go) or standby (Stop) from transmission and reception control part 104, execution/stop signal handling part 108 generates the transmission signal of wireless information M5 according to instruction, transfers to RF portion 103.The figure place that the carrying out of the transmission signal of wireless information M5 sends is few, does not therefore need the efficiency of transmission of raising information, but is generated as noise, the indefatigable signal of interference signal tool.Such as, the signal of spectrum diffusion (SS:SpreadSpectrum) mode directly spreading DS (DirectSequence), frequency hopping (FH:FrequencyHopping) etc. is generated as.In addition, sending part 105 also implements to send the control in the RF portion 103 to the switching sent etc. of the increase and decrease of electric power, frequency error factor, antenna.
Fig. 6 is the figure of the functional structure example from equipment 2 ~ 5 representing present embodiment.As shown in Figure 6, from equipment 2 ~ 5 respectively by accepting the instruction of autonomous device 1, information sends signal, the wireless signal handling part 112 of transmission and reception specified in addition and RF portion (antenna part) 113 to the application section (from equipment) 111 of the information that main equipment 1 sends and the information collected by application section (from equipment) 111 being converted to formed to carry out action or to collect.
Wireless signal handling part 112 is made up of the acceptance division 116 of the transmission and reception control part 114 of the timing of control transmission and reception, the sending part 115 generating transmission signal and process Received signal strength further.Acceptance division 116 contains the usual frame handling part 117 of the common frame of message by pack processing and processes indicating from equipment the executive signal of action or process to indicate the execution/stop signal handling part 118 of standby stop signal to form.
RF portion 113 receives the wireless signal sent from main equipment 1, and transfers acceptance division 116 to, is sent by the transmission signal that sending part 115 generates in addition as wireless signal.Acceptance division 116 is when the Received signal strength accepted from RF portion 113 is common radio frames, and the reception process that usual frame handling part 117 specifies this Received signal strength is also set to reception data, will receive data handover to transmission and reception control part 114.In addition, when the Received signal strength accepted from RF portion 113 is wireless information M5, execution/stop signal handling part 118 is implemented the reception process of the regulation corresponding with this message and is carried out action according to message.Specifically, when wireless information M5 be designated as action executing, indicate the execution of action to application section (from equipment) 111 via transmission and reception control part 114, when wireless information M5 be designated as standby, via transmission and reception control part 114 to application section (from equipment) 111 indicate standby.In addition, acceptance division 116 indicate to RF portion 113 receive the increase and decrease of electric power, frequency error factor, antenna to the switching received.
The control information be used for from from device timing, destination address etc. to main equipment 1 sends response, information is indicated to sending part 115 by transmission and reception control part 114, in addition acceptance division 116 is indicated to the beginning timing received.In addition, transmission and reception control part 114 accepts to receive data, action executing or standby instruction from acceptance division 116, transfer to application section (from equipment) 111, sending part 115 is transferred in instruction application section (from equipment) 111 generated, information to.
The process specified is carried out in the instruction that application section (from equipment) 111 sends according to the application section from main equipment 1 (main equipment) 101 accepted via transmission and reception control part 114, information, in addition, the instruction for sending to main equipment 1, information is generated.
Sending part 115 makes radio frames according to the instruction accepted from transmission and reception control part 114, information and transfers RF portion 113 to as transmission signal.In addition, sending part 115 indicate to RF portion 113 send the increase and decrease of electric power, frequency error factor, antenna to the switching sent.
Then, the device action of the action of the communication system of application present embodiment.Fig. 7 represents the figure from main equipment 1 to the concept of the transmission of the instruction from equipment 2 ~ 5 and device action.In the example of fig. 7, the cycle indicated from main equipment 1 sending action is 0.44ms.In this example embodiment, be set to as action instruction and the instruction of the position for motor indicated with numerical value, the numerical value that " 6 ", " 20 " of Fig. 7, " 45 " ... are waited is the example of this instruction.The curve of figure below of Fig. 7 represents that every 0.44ms carries out the position of the motor driven.Such as, when the upper figure of Fig. 7 action instruction in indicate " 6 ", in the ensuing cycle drive receive the motor of instruction from equipment smoothly CD-ROM drive motor the position of motor is become " 6 ".And, CD-ROM drive motor within the cycle of carrying out driving the position making motor to become " 6 ", receive the action instruction of the position of instruction " 20 " from equipment time, CD-ROM drive motor makes the position of motor in the ensuing cycle become " 20 " smoothly.Fig. 7 represents the example of the situation (indicating the situation of action executing with wireless information M5) not producing error of transmission within the cycle.
Fig. 8 is the figure of the example representing the action instruction comprising error of transmission.In the example of fig. 8, be the example carrying out the action identical with Fig. 7, but be set in the action instruction in the position " 45 " indicating motor the error of transmission produced between radio zone.In this case, by implementing the action of present embodiment as described above, will indicate standby with wireless information M5.And, in the ensuing cycle, again send the action instruction of the position " 45 " of instruction motor.In the example of fig. 8, illustrate in the situation of carrying out normally carrying out in the standby ensuing cycle transmitting.
In addition, in the example of fig. 8, carried out standby action instruction carrying out in the standby ensuing cycle again sending, but also can abandon having carried out standby instruction to send its ensuing action instruction.Fig. 9 is the figure of other example representing the action instruction comprising error of transmission.In the example of figure 9, the error of transmission created between radio zone is set in the action instruction in the position " 96 " indicating motor.In this example embodiment, not the instruction of the position " 96 " again sending motor in the ensuing cycle after wait action, but send the action instruction of the position " 100 " of the instruction motor as its ensuing action instruction.
In addition, when obtaining during the fixed cycle from whole responses from equipment, also can send the action instruction carrying out notifying in the ensuing cycle and effectively utilize communication band within this cycle.
In addition, in the present embodiment, describe main equipment 1 to the example indicated with the cycle sending action of regulation from equipment 2 ~ 5, but be not limited thereto, also can send when sending action indicates aperiodically the wireless information M5 illustrated in the present embodiment.In this case, be not judge have sent action instruction cycle in whether exist do not respond from equipment, as long as but such as determine the response stand-by time that specifies, according to after transmission indicate in action, respond the response (response again sent) whether existed since equipment in stand-by time and send wireless information M5.In addition, in this case, the action stand-by time also pre-determined when waiting for action from equipment is set to.
As described above, in the present embodiment, action instruction sends to from equipment 2 ~ 5 with the cycle of regulation by main equipment 1, when exist not response from implementing when equipment again to send in same period, when to exist in the cycle not for action instruction response or for the action instruction again sent response from equipment, to whole standby from equipment instruction action.In addition, within the cycle from whole obtain response from equipment, instruction action executing.Therefore, when by main equipment 1 and when being set to radio communication from the communication of equipment 2 ~ 5, also realize high reliability, reliably can provide instruction to multiple from equipment.
And, common communication data is the signal being generated as high-transmission efficiency, is to noise, the indefatigable signal of interference signal tool by message generation that is standby for instruction action or action executing or has patience by again sending this message to make to noise, interference signal.Therefore, it is possible to realize high efficiency of transmission and high reliability can be realized.
(utilizability in industry)
As described above, wireless communication system of the present invention, radio communication device and the wireless communications method system to multiple device coordinations that controller controls is useful, is particularly applicable to the system used in FA environment.
Claims (19)
1. a wireless communication system, is made up of main website and plural slave station, and wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that described main website sends, the feature of described wireless communication system is,
Described main website possesses:
Usual frame transmission processing unit, is generated as radio frames by described action instruction; And
Perform index signal production unit, when having carried out responding to described action instruction from whole slave stations during the response stand-by time specified, generate and performed index signal and send, wherein, this execution index signal is instruction indicates the execution of corresponding action signal with this action
Described slave station possesses execution index signal and receives processing unit, and this execution index signal receives processing unit and receives described execution index signal, the reception process that professional etiquette of going forward side by side is fixed,
Described execution index signal receives processing unit when receiving described execution index signal, indicate based on the action corresponding with this execution index signal and perform an action, in addition, until reception indicates corresponding execution index signal to wait for the execution of the action indicated based on this action with action.
2. wireless communication system according to claim 1, is characterized in that,
Generate described execution index signal in the following way: compared with generating the mode of radio frames with described usual frame transmission processing unit, require to receive the low mode of SNR.
3. wireless communication system according to claim 2, is characterized in that,
Be set to as under type by generating the mode of described execution index signal: the SNR which requires with as described in compared with the SNR that requires of the usual frame transmission processing unit mode that generates radio frames, also can receive when low 20dB ~ 30dB.
4. the wireless communication system according to any one in claims 1 to 3, is characterized in that,
Described execution index signal repeats to send stipulated number by described execution index signal production unit.
5. the wireless communication system according to any one in claims 1 to 3, is characterized in that,
Described execution index signal production unit, when sending described execution index signal, improves and sends electric power compared with sending the situation of the usual frame that described usual frame transmission processing unit generates.
6. wireless communication system according to claim 1, is characterized in that,
Described execution index signal production unit has not carried out responding from more than one slave station to described action instruction during described response stand-by time, whole slave stations is sent to the standby standby index signal being used to indicate action,
Described execution index signal receives processing unit when receiving described standby index signal, waits for the execution of the action indicated based on the action corresponding with this standby index signal during the action stand-by time of regulation.
7. wireless communication system according to claim 6, is characterized in that,
Require to receive the lower mode of SNR compared with the mode that generates radio frames with described usual frame transmission processing unit, generate described standby index signal.
8. wireless communication system according to claim 7, is characterized in that,
Be set to as under type by generating the mode of described standby index signal: the SNR which requires with as described in compared with the SNR that requires of the usual frame transmission processing unit mode that generates radio frames, also can receive when low 20dB ~ 30dB.
9. the wireless communication system according to any one in claim 6 ~ 8, is characterized in that,
Described standby index signal repeats to send stipulated number by described execution index signal production unit.
10. the wireless communication system according to any one in claim 6 ~ 8, is characterized in that,
Described execution index signal production unit, when sending described standby index signal, improves and sends electric power compared with sending the situation of the usual frame that described usual frame transmission processing unit generates.
11. wireless communication systems according to any one in claims 1 to 3,6 ~ 8, is characterized in that,
Described usual frame transmission processing unit, when failing to obtain from more than one slave station the response indicated described action, sends this action instruction again to the slave station failing to obtain response.
12. wireless communication systems according to any one in claims 1 to 3,6 ~ 8, is characterized in that,
Described usual frame transmission processing unit sends described action instruction for the transmission cycle of each regulation,
Within described response stand-by time is set to the described transmission cycle.
13. wireless communication systems according to any one in claims 1 to 3,6 ~ 8, is characterized in that,
When not carried out responding from more than one slave station to described action instruction during described response stand-by time, described usual frame transmission processing unit has sent following action instruction when sending ensuing action instruction: indicate and fail to obtain the action responded and indicate the action of identical action to indicate.
14. wireless communication systems according to any one in claims 1 to 3,6 ~ 8, is characterized in that,
When not carried out responding from more than one slave station to described action instruction during described response stand-by time, described usual frame transmission processing unit has sent following action instruction when sending ensuing action and indicating: the action instruction of the ensuing action that the action that instruction fails to obtain response indicates.
15. 1 kinds of radio communication devices, in the wireless communication system be made up of main website and plural slave station, action is carried out as described main website, wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that described main website sends, the feature of described radio communication device is to possess:
Usual frame transmission processing unit, is generated as radio frames by described action instruction; And
Perform index signal production unit, when having carried out responding from whole slave stations to described action instruction during the response stand-by time specified, generation has been used to indicate the execution index signal of the execution of action and has sent.
16. 1 kinds of radio communication devices, carry out action as plural slave station, and wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that main website sends, the feature of described radio communication device is,
Possess and perform index signal reception processing unit, this execution index signal receives processing unit and receives the execution index signal being used to indicate the execution of action from described main website, the reception process that professional etiquette of going forward side by side is fixed,
Described execution index signal receives processing unit based on the reception of described execution index signal, performs the content that the action corresponding with this execution index signal indicates.
17. 1 kinds of wireless communications methods, it is the wireless communications method in the wireless communication system be made up of main website and plural slave station, wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that described main website sends, the feature of this wireless communications method is, comprising:
Usual frame transmission processing step, described action instruction is generated as radio frames by described main website;
Perform index signal making step, described main website has carried out responding to described action instruction from whole slave stations during the response stand-by time specified, generated the execution index signal being used to indicate the execution of action and send; And
Perform index signal and receive treatment step, described from stand in receive described execution index signal, perform the content that the action corresponding with this execution index signal indicates, in addition, indicate corresponding execution index signal until receive with action, wait for the execution of the action indicated based on this action.
Wireless communications method in 18. 1 kinds of radio communication devices, this radio communication device is in the wireless communication system be made up of main website and plural slave station, action is carried out as described main website, wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that described main website sends, the feature of described wireless communications method is to possess:
Usual frame transmission processing step, is generated as radio frames by described action instruction; And
Perform index signal making step, when having carried out responding from whole slave stations to described action instruction during the response stand-by time specified, generation has been used to indicate the execution index signal of the execution of action and has sent.
Wireless communications method in 19. 1 kinds of radio communication devices, this radio communication device carries out action as plural slave station, wherein, this plural slave station individually implements the action specified in phase respectively according to the action instruction that main website sends, the feature of described wireless communications method is
Possess and perform index signal reception treatment step, receive in treatment step in this execution index signal, receive the execution index signal being used to indicate the execution of action from described main website, the reception process that professional etiquette of going forward side by side is fixed,
Receive in treatment step in described execution index signal, based on the reception of described execution index signal, perform the content that the action corresponding with this execution index signal indicates.
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| PCT/JP2010/052542 WO2010095713A1 (en) | 2009-02-23 | 2010-02-19 | Wireless communication system, wireless communication device, and wireless communication method |
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| JP6477438B2 (en) * | 2015-11-16 | 2019-03-06 | 株式会社デンソー | Communication apparatus and communication system |
| JP6508538B2 (en) * | 2016-04-04 | 2019-05-08 | Smc株式会社 | Industrial wireless communication system |
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| US11518043B2 (en) * | 2018-12-20 | 2022-12-06 | Canon Kabushiki Kaisha | Communication apparatus, communication method, robot apparatus, production apparatus, method of manufacturing article, transmission apparatus, recording medium |
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| EP2400778B1 (en) | 2019-02-13 |
| EP2400778A4 (en) | 2017-08-02 |
| US20110306374A1 (en) | 2011-12-15 |
| EP2400778A1 (en) | 2011-12-28 |
| JP5497730B2 (en) | 2014-05-21 |
| JPWO2010095713A1 (en) | 2012-08-30 |
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| WO2010095713A1 (en) | 2010-08-26 |
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